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김형민(Hyung Min Kim),위신환(Shin Hwan Wei),윤신일(Sin Il Yoon),신익재(Ik Jae Shin),김규로(Gyu Ro Kim) 한국신뢰성학회 2013 신뢰성응용연구 Vol.13 No.1
In order to assess the reliability of engine mount for a vehicles, life test model and procedure are developed. By using this method, failure mechanism and life distribution are analyzed. The main results are as follows; i) the main failure mechanism is degradation failure of engine mount rubber by fatigue failure at dynamic load. ii) temperature is a second factor to affect a failure. iii) the life distribution of engine mount module is fitted well to Weibull life distribution and the shape parameter is 18.4 and the accelerated life model of that is fitted well to Arrhenius model.
김문선 ( Moon Sun Kim ),전대성 ( Dae Seong Jeoune ),남경현 ( Kyung H Nam ),김규로 ( Gyu Ro Kim ),한찬명 ( Chan Myeong Han ) 한국품질경영학회 2013 품질경영학회지 Vol.41 No.4
Purpose: In this study, the actual situation of domestic firms vulnerable to industrial security competence will be discussed. And accordingly be discussed for effective response measures. Methods: Using a structured questionnaire by mail, fax, e-mail and fill method was used respondents. By the end of ``10 R&D Center, which holds 15,247 companies(population) among the 95% level of confidence,tolerance ±3% p-level corporate type, sector, region extraction method stratified multi-level companies were investigated through the final 1529. Results: The average level of industrial security capabilities 43.8%(out of 100) is very weak, so urgent and positive response measures also need to be investigated sought. Conclusion: we propose the effective management framework and improvement plans to prevent illegal industrial leakage are to be made.
MRAC를 이용한 로보트 매니퓰레이터의 制御性能 向上에 관한 硏究 : Model Reference Adaptive Controller
김병수,김규로,선양래 慶熙大學校 大學院 1995 高凰論集 Vol.16 No.-
This paper is study on trajectory property of 6 DOF robot manipulator. This paper used to adaptive control and p-d(proportional-derivated) control for control methods, Simulation robot is stanford 6-dof robot manipulatr of stanford university. Main results obtained through this paper are summarized as followings. At each links, adaptive control has more excellant control than p-d control. At 1-st link, adaptive control and p-d control has a little error at 3.0 second. At 2 nd link, adaptive control and p-d control has a little error than other links without 3-rd link, At 3-rd link, two control methods has a superiority control results than other links with two control methods. At 5-st link, p-d control error is a most great than other links. Therefore, the adaptive control applications for 6-dof robot manipulator has a very excellant capability than applying classical p-d control.
3-Joint Planar Type 로봇 매니퓰레이터의 자기동조적응제어에 관한 연구
김규로,양희주,유용석,최명진,오택열 慶熙大學校 大學院 院友會 1996 高凰論集 Vol.17 No.-
This study has parallelogram trajectory tracking of Three Joint Planar type Robot Manipulator. The equation of motion for the three joint planar manipulator are obtained by substituting Lagrange's energy expression into Euler-Lagrange's equation and forming the appropriate derivative. Lagrangian method allows us to obtain the dynamics equations for very complicated systems in the simplest manner possible. SISO model is used for design of the controller. The design of controllers may be considered primary controller for manipulators to track the desired trajectory under ideal conditions and secondary controller to compensates for undesirable deviations of the motion from the trajectory caused by external and internal disturbances. The aim of this paper is to evaluate the efficiency by self-tunning adaptive control and considering a characteristic of control. Through the computer simulation, obtained the following results 1) selt-tunning adaptive control is superior to PD control, 2) During the learning period, the adaptive control algorithm is searching proper estimates and controller gains. After this period, the outputs of the joints start tracking closely the desired valued.